/****************************************************************************
 *
 *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file controls.c
 *
 * R/C inputs and servo outputs.
 */

#include <nuttx/config.h>
#include <stdbool.h>

#include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>

#include "px4io.h"

#define RC_FAILSAFE_TIMEOUT		2000000		/**< two seconds failsafe timeout */
#define RC_CHANNEL_HIGH_THRESH		5000	/* 75% threshold */
#define RC_CHANNEL_LOW_THRESH		-8000	/* 10% threshold */

static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);

static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
static perf_counter_t c_gather_ppm;

void
controls_init(void)
{
	/* no channels */
	r_raw_rc_count = 0;
	system_state.rc_channels_timestamp_received = 0;
	system_state.rc_channels_timestamp_valid = 0;

	/* DSM input (USART1) */
	dsm_init("/dev/ttyS0");

	/* S.bus input (USART3) */
	sbus_init("/dev/ttyS2");

	/* default to a 1:1 input map, all enabled */
	for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) {
		unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;

		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS]    = 0;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MIN]        = 1000;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_CENTER]     = 1500;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX]        = 2000;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE]   = 30;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS]    = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
	}

	c_gather_dsm = perf_alloc(PC_ELAPSED, "c_gather_dsm");
	c_gather_sbus = perf_alloc(PC_ELAPSED, "c_gather_sbus");
	c_gather_ppm = perf_alloc(PC_ELAPSED, "c_gather_ppm");
}

void
controls_tick() {

	/*
	 * Gather R/C control inputs from supported sources.
	 *
	 * Note that if you're silly enough to connect more than
	 * one control input source, they're going to fight each
	 * other.  Don't do that.
	 */

	/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
	uint16_t rssi = 0;

#ifdef ADC_RSSI
	if (r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) {
		unsigned counts = adc_measure(ADC_RSSI);
		if (counts != 0xffff) {
			/* use 1:1 scaling on 3.3V ADC input */
			unsigned mV = counts * 3300 / 4096;

			/* scale to 0..253 */
			rssi = mV / 13;
		}
	}
#endif

	perf_begin(c_gather_dsm);
	uint16_t temp_count = r_raw_rc_count;
	bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count);
	if (dsm_updated) {
		r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
		r_raw_rc_count = temp_count & 0x7fff;
		if (temp_count & 0x8000)
			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
		else
			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;

		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);

	}
	perf_end(c_gather_dsm);

	perf_begin(c_gather_sbus);

	bool sbus_failsafe, sbus_frame_drop;
	bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS);

	if (sbus_updated) {
		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;

		rssi = 255;

		if (sbus_frame_drop) {
			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP;
			rssi = 100;
		} else {
			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
		}

		if (sbus_failsafe) {
			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
			rssi = 0;
		} else {
			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
		}

	}

	perf_end(c_gather_sbus);

	/*
	 * XXX each S.bus frame will cause a PPM decoder interrupt
	 * storm (lots of edges).  It might be sensible to actually
	 * disable the PPM decoder completely if we have S.bus signal.
	 */
	perf_begin(c_gather_ppm);
	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_raw_rc_input[PX4IO_P_RAW_RC_DATA]);
	if (ppm_updated) {

		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
	}
	perf_end(c_gather_ppm);

	/* limit number of channels to allowable data size */
	if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS)
		r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;

	/* store RSSI */
	r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = rssi;

	/*
	 * In some cases we may have received a frame, but input has still
	 * been lost.
	 */
	bool rc_input_lost = false;

	/*
	 * If we received a new frame from any of the RC sources, process it.
	 */
	if (dsm_updated || sbus_updated || ppm_updated) {

		/* record a bitmask of channels assigned */
		unsigned assigned_channels = 0;

		/* update RC-received timestamp */
		system_state.rc_channels_timestamp_received = hrt_absolute_time();

		/* update RC-received timestamp */
		system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received;

		/* map raw inputs to mapped inputs */
		/* XXX mapping should be atomic relative to protocol */
		for (unsigned i = 0; i < r_raw_rc_count; i++) {

			/* map the input channel */
			uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];

			if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {

				uint16_t raw = r_raw_rc_values[i];

				int16_t scaled;

				/*
				 * 1) Constrain to min/max values, as later processing depends on bounds.
				 */
				if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
					raw = conf[PX4IO_P_RC_CONFIG_MIN];
				if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
					raw = conf[PX4IO_P_RC_CONFIG_MAX];

				/*
				 * 2) Scale around the mid point differently for lower and upper range.
				 *
				 * This is necessary as they don't share the same endpoints and slope.
				 *
				 * First normalize to 0..1 range with correct sign (below or above center),
				 * then scale to 20000 range (if center is an actual center, -10000..10000,
				 * if parameters only support half range, scale to 10000 range, e.g. if
				 * center == min 0..10000, if center == max -10000..0).
				 *
				 * As the min and max bounds were enforced in step 1), division by zero
				 * cannot occur, as for the case of center == min or center == max the if
				 * statement is mutually exclusive with the arithmetic NaN case.
				 *
				 * DO NOT REMOVE OR ALTER STEP 1!
				 */
				if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));

				} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));

				} else {
					/* in the configured dead zone, output zero */
					scaled = 0;
				}

				/* invert channel if requested */
				if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) {
					scaled = -scaled;
				}

				/* and update the scaled/mapped version */
				unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
				if (mapped < PX4IO_CONTROL_CHANNELS) {

					/* invert channel if pitch - pulling the lever down means pitching up by convention */
					if (mapped == 1) {
						/* roll, pitch, yaw, throttle, override is the standard order */
						scaled = -scaled;
					}

					if (mapped == 3 && r_setup_rc_thr_failsafe) {
						/* throttle failsafe detection */
						if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) ||
						    ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) {
							r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
						} else {
							r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
						}
					}

					r_rc_values[mapped] = SIGNED_TO_REG(scaled);
					assigned_channels |= (1 << mapped);

				}
			}
		}

		/* set un-assigned controls to zero */
		for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
			if (!(assigned_channels & (1 << i))) {
				r_rc_values[i] = 0;
			}
		}

		/* set RC OK flag, as we got an update */
		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
		r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK;

		/* if we have enough channels (5) to control the vehicle, the mapping is ok */
		if (assigned_channels > 4) {
			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
		} else {
			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
		}

		/*
		 * Export the valid channel bitmap
		 */
		r_rc_valid = assigned_channels;
	}

	/*
	 * If we haven't seen any new control data in 200ms, assume we
	 * have lost input.
	 */
	if (hrt_elapsed_time(&system_state.rc_channels_timestamp_received) > 200000) {
		rc_input_lost = true;

		/* clear the input-kind flags here */
		r_status_flags &= ~(
			PX4IO_P_STATUS_FLAGS_RC_PPM |
			PX4IO_P_STATUS_FLAGS_RC_DSM |
			PX4IO_P_STATUS_FLAGS_RC_SBUS);

	}

	/*
	 * Handle losing RC input
	 */

	/* if we are in failsafe, clear the override flag */
	if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) {
		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
	}

	/* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */
	if (rc_input_lost) {
		/* Clear the RC input status flag, clear manual override flag */
		r_status_flags &= ~(
			PX4IO_P_STATUS_FLAGS_OVERRIDE |
			PX4IO_P_STATUS_FLAGS_RC_OK);

		/* flag raw RC as lost */
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);

		/* Mark all channels as invalid, as we just lost the RX */
		r_rc_valid = 0;

		/* Set raw channel count to zero */
		r_raw_rc_count = 0;

		/* Set the RC_LOST alarm */
		r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
	}

	/*
	 * Check for manual override.
	 *
	 * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
	 * must have R/C input (NO FAILSAFE!).
	 * Override is enabled if either the hardcoded channel / value combination
	 * is selected, or the AP has requested it.
	 */
	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && 
		(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
		!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {

		bool override = false;

		/*
		 * Check mapped channel 5 (can be any remote channel,
		 * depends on RC_MAP_OVER parameter);
		 * If the value is 'high' then the pilot has
		 * requested override.
		 *
		 */
		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) < RC_CHANNEL_LOW_THRESH))
			override = true;

		if (override) {

			r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;

			/* mix new RC input control values to servos */
			if (dsm_updated || sbus_updated || ppm_updated)
				mixer_tick();

		} else {
			r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
		}
	} else {
		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
	}
}

static bool
ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
{
	bool result = false;

	/* avoid racing with PPM updates */
	irqstate_t state = irqsave();

	/*
	 * If we have received a new PPM frame within the last 200ms, accept it
	 * and then invalidate it.
	 */
	if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) {

		/* PPM data exists, copy it */
		*num_values = ppm_decoded_channels;
		if (*num_values > PX4IO_RC_INPUT_CHANNELS)
			*num_values = PX4IO_RC_INPUT_CHANNELS;

		for (unsigned i = 0; i < *num_values; i++) {
			values[i] = ppm_buffer[i];
		}

		/* clear validity */
		ppm_last_valid_decode = 0;

		/* store PPM frame length */
		if (num_values)
			*frame_len = ppm_frame_length;

		/* good if we got any channels */
		result = (*num_values > 0);
	}

	irqrestore(state);

	return result;
}
